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Abstract:

An advanced driver assistance system for a vehicle is provided. The
advanced driver assistance system includes a sensor arrangement for
measuring the distance of a foreign object from the vehicle, and an
electronic control unit for activating vehicle-internal actuators as a
function of information obtained from a signal of the sensor arrangement.
The sensor arrangement includes at least one sensor that is arranged on a
longitudinal side of the vehicle and measures the distance of the foreign
object from the longitudinal vehicle side. The control unit has a program
module which emits a warning message to the driver during a forward drive
by a connection to at least one of the actuators when the measured
distance of the foreign object from the longitudinal vehicle side is
smaller than a predefined safety distance.

Claims:

1. An advanced driver assistance system for a vehicle, the advanced
driver assistance system comprising: a first sensor arrangement for
measuring a distance of a first foreign object from the vehicle; and an
electronic control unit for activating vehicle-internal actuators as a
function of information obtained from a signal of the first sensor
arrangement, wherein: the first sensor arrangement comprises at least one
sensor which is arranged on a first longitudinal side of the vehicle and
measures the distance of the first foreign object from the first
longitudinal side, and the control unit comprises a program module which
emits a warning message to a driver of the vehicle during a forward drive
by a connection to at least one of the actuators when the measured
distance of the first foreign object from the first longitudinal side is
smaller than a first predefined safety distance.

2. The advanced driver assistance system according to claim 1, wherein a
first one of the actuators is a first control device that emits the
warning message as a visual display in a heads-up display system of the
vehicle.

3. The advanced driver assistance system according to claim 2, wherein
the visual display represents a symbol for an accident risk.

4. The advanced driver assistance system according to claim 1, wherein a
second one of the actuators is a second control device that emits a
haptic warning message as a countersteering torque at a steering wheel of
the vehicle.

5. The advanced driver assistance system according to claim 2, wherein a
second one of the actuators is a second control device that emits a
haptic warning message as a countersteering torque at a steering wheel of
the vehicle.

6. The advanced driver assistance system according to claim 1, further
comprising: a second sensor arrangement for measuring a distance of a
second foreign object from the vehicle, wherein the second sensor
arrangement is arranged on a second longitudinal side of the vehicle that
is different from the first longitudinal side of the vehicle, and the
control unit applies a countersteering torque at a steering wheel of the
vehicle as the warning message and to enlarge the distance from the first
foreign object with respect to the first longitudinal side of the vehicle
only if the countersteering torque does not cause the distance from the
second foreign object with respect to the second longitudinal side of the
vehicle to become smaller than the first predefined safety distance.

7. The advanced driver assistance system according to claim 1, wherein
the control unit applies a countersteering torque at a steering wheel of
the vehicle as the warning message and to enlarge the distance from the
first foreign object only if the countersteering torque does not cause
the vehicle to carry out a lane change.

8. The advanced driver assistance system according to claim 5, wherein:
the control unit activates the first control device when the distance
falls below the first predefined safety distance, and the control unit
activates the second control device when the distance falls below a
second predefined safety distance, the second predefined safety distance
being smaller than the first predefined safety distance.

9. The advanced driver assistance system according to claim 1, wherein
the control unit causes an automatic braking intervention when the
distance of the first foreign object from the first longitudinal vehicle
side falls below the first predefined safety distance for a defined time
period after the warning message is emitted.

10. A method of warning a driver of a vehicle, the method comprising the
acts of: measuring a distance of a first foreign object from a first
longitudinal side of the vehicle; and emitting a warning message to the
driver of the vehicle during a forward drive when the measured distance
of the first foreign object from the first longitudinal side is smaller
than a first predefined safety distance.

11. The method according to claim 10, wherein the warning message is a
visual display in a heads-up display system of the vehicle.

12. The method according to claim 11, wherein the visual display
represents a symbol for an accident risk.

13. The method according to claim 10, further comprising the act of
emitting a haptic warning message as a countersteering torque at a
steering wheel of the vehicle.

14. The method according to claim 11, further comprising the act of
emitting a haptic warning message as a countersteering torque at a
steering wheel of the vehicle.

15. The method according to claim 10, further comprising the acts of:
measuring a distance of a second foreign object from a second
longitudinal side of the vehicle, wherein the second longitudinal side of
the vehicle that is different from the first longitudinal side of the
vehicle, and applying a countersteering torque at a steering wheel of the
vehicle as the warning message and to enlarge the distance from the first
foreign object with respect to the first longitudinal side of the vehicle
only if the countersteering torque does not cause the distance from the
second foreign object with respect to the second longitudinal side of the
vehicle to become smaller than the first predefined safety distance.

16. The method according to claim 10, further comprising the act of
applying a countersteering torque at a steering wheel of the vehicle as
the warning message and to enlarge the distance from the first foreign
object only if the countersteering torque does not cause the vehicle to
carry out a lane change.

17. The method according to claim 14, wherein: the warning message is
emitted when the distance falls below the first predefined safety
distance, and the haptic warning message is emitted when the distance
falls below a second predefined safety distance, the second predefined
safety distance being smaller than the first predefined safety distance.

18. The method according to claim 10, further comprising the act of
causing an automatic braking intervention when the distance of the first
foreign object from the first longitudinal vehicle side falls below the
first predefined safety distance for a defined time period after the
warning message is emitted.

[0002] The invention relates to an advanced driver assistance system
having a sensor arrangement for detecting the distance of the own vehicle
from a foreign object.

[0003] Such systems are known, for example, in connection with
distance-controlled active cruise control systems (ACCs). Here, a speed
control is implemented as a function of a distance from the vehicle
driving ahead.

[0004] Furthermore, it is known in connection with parking aids, such as
Parking Distance Controls (PDCs), to measure the distance from forward or
rearward obstacles and to emit an acoustic and/or visual warning as a
function thereof.

[0005] In addition, the applicant is developing a so-called Narrow-Passage
Assistant by which a narrow passage is measured in an anticipatory
fashion and the driver is informed as to whether this narrow passage is
sufficiently wide for his vehicle to drive through.

[0006] Finally, Lane Departure Warning Systems or Lane-Change Assistants
are known by which approaching vehicles are detected in an anticipatory
fashion by means of sensors directed toward the rear and by which a
warning is emitted in the event that a road marking is crossed or an
intention of another lane change is recognized in the case of fast
approaching vehicles.

[0007] It is an object of the invention to improve advanced driver
assistance systems of the initially mentioned type with regard to further
increasing safety.

[0008] The advanced driver assistance system according to exemplary
embodiments of the invention, having a sensor arrangement for detecting
the distance of the own vehicle from a foreign object and having an
electronic control unit for activating vehicle-internal actuators as a
function of information obtained from signals of the sensor arrangement,
comprises at least one sensor that is arranged in a longitudinal side of
the own vehicle and can be used for measuring the distance of a foreign
object from this longitudinal vehicle side. In this case, the control
unit has a program module by which a warning message can be emitted to
the driver during a forward drive (in contrast to a parking operation) by
means of a connection to at least one corresponding actuator, when the
measured distance of a foreign object is narrower than a predefined
safety distance. The warning message can be acoustic, visual and/or
haptic. The distance may be a transverse distance of the foreign object
from the longitudinal vehicle side.

[0009] Preferably an actuator for the output of a warning message is a
first control device by which a warning message can be emitted in the
form of a visual display, such as a symbol indicating the danger of an
accident, in a heads-up display system. The driver is thereby warned most
rapidly and is distracted the least from his viewing direction.

[0010] Additionally or as an alternative, an actuator is provided for the
output of a warning message, preferably a second control device by which
a haptic warning message can be emitted in the form of a countersteering
torque at the steering wheel.

[0011] At least one sensor or one sensor arrangement respectively for
detecting the distance of foreign objects is preferably provided on the
two longitudinal vehicle sides (left and right). The control unit is then
further developed such that a countersteering torque at the steering
wheel as a warning message and for enlarging the distance from a foreign
object (for example, on the left) will be applied only if, as a result,
the distance on the other longitudinal vehicle side (for example, on the
right) will not also become narrower than a predefined safety distance.

[0012] A countersteering torque at the steering wheel as a warning message
and for enlarging the distance from a foreign object will preferably be
applied only if, as a result, the own vehicle would not carry out a lane
change.

[0013] In an advantageous further development of the invention, the
actuator in the form of the first control device is activated by the
control unit when the distance falls below a first safety distance, and
the actuator in the form of the second control device is additionally
activated when the distance falls below a second safety distance. In this
case, the second safety distance is smaller than the first safety
distance. In any case, both safety distances are smaller than 1 meter.

[0014] By means of a connection to a brake control device, the control
unit can initiate an automatic braking intervention when a falling-below
a predefined safety distance is maintained for a defined time period.

[0015] The invention is based on the following considerations,
recognitions and ideas:

[0016] Starting Situation

[0017] Related art driverless transport systems use distance-measuring
sensors, such as ultrasound- or laser-based sensors, for
self-localization. By means of cameras, road markings are detected and
lane departure warnings are emitted. The distance of the own vehicle from
vehicles driving ahead is measured by means of radar or lidar sensors.
Other vehicles situated in the blind spot of the own vehicle are
detected, and the driver is warned if he wants to change lanes although
the target lane is occupied. There are currently no functions which warn
the driver of threatening collisions with vehicles on adjacent lanes and
prevent these collisions when the other vehicles approach the own
vehicle.

[0018] When driving on freeways or multilane country roads, it is a common
occurrence that another vehicle is situated in the blind spot of the own
vehicle. When this other vehicle now intentionally or unintentionally
approaches the own vehicle, this may not be realized by the driver in
time, and lead to a collision. The sensor system currently used for the
detection of other vehicles on adjacent lanes is too inexact for
calculating the time within which a collision will occur.

[0019] Idea

[0020] During the entire drive, the system according to exemplary
embodiments of the invention will monitor the side area of the own
vehicle by means of suitable sensors. These may, for example, be
ultrasonic sensors.

[0021] As a result of the exact monitoring of the side area, the system
according to exemplary embodiments of the invention knows vehicles on
adjacent lanes and their distances from the own vehicle, as well as the
distances from structural boundaries, such as guard rails, distance
markers, construction site shut-off devices, walls and the like.

[0022] When the other vehicle comes too close to the own vehicle, a
warning is emitted to the driver. This warning could, for example, be
emitted by way of the heads-up display system. In another exemplary
embodiment, the warning could also be emitted as an acoustic warning. If
the other vehicle were to come still closer to the own vehicle, the
driver can be warned by a slight steering torque in a further exemplary
embodiment, which steering torque repels him away from the point of
danger. This repelling may be a form of magnetic force which pushes the
own vehicle away from the other vehicle, or makes a still closer approach
to the other vehicle more difficult. Likewise, the warning and the torque
may be applied when the own vehicle laterally approaches the other
vehicle or a stationary object, such as walls, guard rails, etc. This
torque may be applied only if sufficient space for an obstacle avoidance
maneuver is still available on that side of the own vehicle into which
the torque is to have its effect. In a further exemplary embodiment, the
intervention in the trajectory of the own vehicle may be carried out by
means of a targeted braking of individual wheels. In a further exemplary
embodiment, the system can utilize additionally available lane
information for repelling the own vehicle only within its own driving
lane but not across road markings.

[0023] Up to now, the driver has been assisted by related art systems,
such as an active cruise control and a lane departure warning as well as
by a heading control, in standard situations should he overlook vehicles
on adjacent traffic lanes when he changes a lane. However, if he is
overlooked himself and another vehicle changes lanes although he is
beside this vehicle, related art driver assistance systems cannot assist
him. The assistance system according to exemplary embodiments of the
invention expands the driver's cognitive capabilities and enables him to
very rapidly react to dangerous situations which he would recognize too
late without the system. This mainly takes place in a region that is not
situated in the driver's primary field of view and can therefore not be
monitored without any technical assistance. The system thereby increases
the safety when traveling on freeways and other multilane roads in that
it reduces the risk in dangerous situations.

[0024] Other objects, advantages and novel features of the present
invention will become apparent from the following detailed description of
one or more exemplary embodiments when considered in conjunction with the
accompanying drawing.

BRIEF DESCRIPTION OF THE DRAWING

[0025]FIG. 1 is a schematic view of the most important components of the
driver assistance system according to exemplary embodiments of the
invention.

DETAILED DESCRIPTION OF THE DRAWING

[0026]FIG. 1 shows the own vehicle 1. The vehicle 1 is moving in the
forward direction (indicated by the dash-dotted arrow) at a speed of
v>0 km/h. It has a sensor arrangement 2 for detecting the lateral
transverse distance dq, for example, from foreign objects F1, F2 and
F3 on the left longitudinal vehicle side, and a sensor arrangement 2' for
detecting the lateral transverse distance dq, for example, from
foreign object F4 on the right longitudinal vehicle side. The sensors and
sensor arrangements 2 and 2' may be identical but are shown here
differently in order to explain examples of different types of sensors.

[0027] The sensor arrangement 2 shown here on the left longitudinal
vehicle side may, for example, be a reasonably priced ultrasonic sensor
that has a rather small aperture (as shown by the narrow beam). If
necessary, two sensors of this type may be mounted on one longitudinal
vehicle side when the sensor arrangement 2 is used.

[0028] The sensor arrangement 2' illustrated here on the right
longitudinal vehicle side may, for example, be a radar sensor with a
somewhat semicircular measuring range (as shown by the broken semicircle
lines). As a result of the wider measuring range, a single sensor of this
type may be sufficient. However, for a more precise localization of an
object, an additional sensor may be advantageous.

[0029] The double arrows originating from the sensor arrangements 2 and 2'
indicate a predefined first safety distance d1 and a smaller predefined
second safety distance d2. The first safety distance d1 may, for example,
be between 10 cm and 50 cm. The second safety distance d2 may, for
example, be between 0 cm and 10 cm.

[0030] In the illustrated example, three other vehicles F1 to F3 are
illustrated at a different lateral proximities on the left longitudinal
side of the own vehicle 1. Vehicle F1 is farther away than the first
safety distance d1. In this case, no measure has to be taken according to
exemplary embodiments of the invention. Vehicle F2 falls only below the
first safety distance d1; vehicle F3 also falls below the second safety
distance d2. On the right longitudinal side of the own vehicle, a guide
rail F4 is illustrated as a foreign object which is outside of the
predefined safety distances d1 and d2.

[0031] Vehicle 1 has an electronic control unit 3 for activating
vehicle-internal actuators 4 and/or 5 as a function of messages obtained
from signals of the sensor arrangement 2 and/or 2'. For this purpose, the
control unit 3, for example, has bus connections to the sensor
arrangements 2 and/or 2' as well as to the actuators 4 and 5.
Furthermore, the control unit 3 has a program module by which a warning
message can be emitted to the driver during a forward drive (v>0 km/h,
such as 70 km/h) when the measured distance dq of a foreign object
F1, F2, F3, or F4 from the longitudinal vehicle side is narrower than a
predefined safety distance d1 and/or d2. However, in this case, the
system is not limited to 70 km/h. The speed could, for example, also be
130 km/h, or any other suitable speed.

[0032] By way of the connection with a control device 4 as the actuator,
the control unit 3 preferably emits a visual warning message in the form
of a display 7, shown here in the form of a symbol for a threatening
accident risk, in a heads-up display system when the distance dq
falls below a first safety distance D1, shown here in the case of foreign
object F2. In addition, by way of the connection with a control device 5
as the actuator, the control unit 3 may emit a haptic warning message in
the form of a countersteering torque at the steering wheel 6 when the
distance dq falls below the second safety distance d2, shown here in
the case of foreign object F3.

[0033] At least one sensor arrangement 2 and/or 2' respectively for
detecting the distance dq from foreign objects F1, F2, F3 or F4 is
preferably provided on the two longitudinal sides of the vehicle. The
control unit 3 may then apply a countersteering torque to the steering
wheel 6 as a warning message and for enlarging the distance dq from
a foreign object (here, F3 on the left longitudinal vehicle side) only
when, as a result, the distance dq on the other (here, right)
longitudinal vehicle side does not also become narrower than a predefined
safety distance (here, for example, d2 with respect to F4).

[0034] In a further development of the invention, the countersteering
torque at the steering wheel 6 may be applied only if it would not cause
the own vehicle 1 to carry out a lane change. For this purpose, the
control unit 3 can cooperate with a lane-change assistant. However, in
principle, exemplary embodiments of the invention can be used
independently of whether a lane change is present or who (the own vehicle
or the foreign object) carries out an approach action.

[0035] The foregoing disclosure has been set forth merely to illustrate
the invention and is not intended to be limiting. Since modifications of
the disclosed embodiments incorporating the spirit and substance of the
invention may occur to persons skilled in the art, the invention should
be construed to include everything within the scope of the appended
claims and equivalents thereof.

Patent applications by Klaus Gresser, Dachau DE

Patent applications by Thorsten Tronnier, Erdweg DE

Patent applications by Bayerische Motoren Werke Aktiengesellschaft

Patent applications in class Of relative distance from an obstacle

Patent applications in all subclasses Of relative distance from an obstacle